The hosts kick off the event on 24 June in a fitting opening to the first Women's World Cup held in South America, with Brazil's other two group-stage matches to be played at Arena Itaquera in Sao Paulo on 29 June and the Estadio Nacional in Brasilia on 4 July.
The Maracana, one of the game's most famous venues and the site of Brazil's heartbreak defeat by Uruguay in the 1950 men's World Cup decider, will also host the 25 July final. Sao Paulo will stage the other semi-final as well as the bronze final.
FIFA confirmed that all eight host cities will stage at least seven matches and a minimum of one knockout game.
Brasilia, Porto Alegre, Recife and Salvador will stage matches through to the last 16, while Belo Horizonte and Fortaleza will join Rio and Sao Paulo as quarter-final venues.
The schedule covers all 64 matches of the tournament, although a revised version will be published after the final draw later this year.
The Maracana will become only the third stadium to host both a men's and women's World Cup final, following Stockholm's Rasunda Stadium and the Rose Bowl in Pasadena.
"I already have goosebumps thinking about the incredible passion, colour and energy that Brazilian fans will bring to the tournament as they welcome the world to eight vibrant host cities," FIFA president Gianni Infantino said in a statement.
The organisers said the schedule had been drawn up with travel distances and recovery time between matches among the factors considered for all 32 teams.
"Hosting the FIFA Women's World Cup in Brazil is a source of immense pride," former Brazil captain Aline Pellegrino said.
"Each host city will add its own unique flavour, making this a colourful, joyful and unforgettable celebration. The world's best players will feel that energy from the stands, and they will give it back on the pitch through moments and performances that will inspire girls and boys around the world."